RESUMO
Operating deflection shape analysis allows investigating the dynamic behaviour of a structure during operation. It normally requires simultaneous, multi-point measurements to capture the response from an unknown excitation source (unknown-input and multiple-output), which can complicate its usage for structures without ease of access. A novel vibration pattern testing method is proposed based on a roving continuous random excitation employing a small robotic Hexbug device and a single-point measurement. The Hexbug introduces a random excitation in consecutive locations while roaming over the structure. The resulting multi-modal, time and location dependent response of the system is captured in a single location, and then analysed with a newly developed method based on empirical wavelet transform, multiscale morphological filtering and optimization to extract the excited vibration patterns. The efficiency of the proposed method is experimentally demonstrated on a free-free and a cantilevered beam with comparison to mode shapes extracted by hammer test. The validation highlights its ability to extract several vibration patterns from a long slender structure with good accuracy and robustness, with the general ability to expand the usability of an operating deflecting shape analysis.